forked from epics_driver_modules/motorBase
PI-SRau
117 lines
4.2 KiB
C++
117 lines
4.2 KiB
C++
/*
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FILENAME... PIGCScontroller.h
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*************************************************************************
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* Copyright (c) 2011-2013 Physik Instrumente (PI) GmbH & Co. KG
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* This file is distributed subject to the EPICS Open License Agreement
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* found in the file LICENSE that is included with this distribution.
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*************************************************************************
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Original Author: Steffen Rau
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Created: 15.12.2010
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*/
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#ifndef PIGCSCONTROLLER_H_
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#define PIGCSCONTROLLER_H_
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#include <asynDriver.h>
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#include <string.h>
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#include "picontrollererrors.h"
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class PIasynAxis;
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class asynMotorAxis;
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class PIInterface;
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/**
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* Base class for all PI GCS(2) controllers.
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*
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* Most functions will be implemented here, since for basic functionality
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* GCS commands are always the same.
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*/
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class PIGCSController
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{
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public:
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PIGCSController(PIInterface* pInterface, const char* szIDN);
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virtual ~PIGCSController();
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static PIGCSController* CreateGCSController(PIInterface* pInterface, const char* szIDN);
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virtual asynStatus init(void);
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virtual asynStatus initAxis(PIasynAxis* pAxis);
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bool getValue(const char* szMsg, double& value);
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bool getValue(const char* szMsg, int& value);
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bool getValue(const char* szMsg, bool& value);
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virtual asynStatus setVelocityCts( PIasynAxis* pAxis, double velocity );
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virtual asynStatus setAccelerationCts( PIasynAxis* pAxis, double acceleration) { return asynSuccess; }
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virtual asynStatus setAcceleration( PIasynAxis* pAxis, double acceleration) { return asynSuccess; }
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virtual asynStatus move( PIasynAxis* pAxis, double target);
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virtual asynStatus moveCts( PIasynAxis* pAxis, int target);
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virtual asynStatus moveCts( PIasynAxis** pAxesArray, int* pTargetCtsArray, int numAxes);
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virtual asynStatus referenceVelCts( PIasynAxis* pAxis, double velocity, int forwards) { return asynSuccess; }
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virtual asynStatus haltAxis(PIasynAxis* pAxis);
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virtual asynStatus setAxisPositionCts(PIasynAxis* pAxis, double positionCts);
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virtual asynStatus setAxisPosition(PIasynAxis* pAxis, double position);
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virtual asynStatus getAxisPosition(PIasynAxis* pAxis, double& position);
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virtual asynStatus getAxisVelocity(PIasynAxis* pAxis);
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virtual asynStatus getAxisPositionCts(PIasynAxis* pAxis);
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virtual asynStatus setServo(PIasynAxis* pAxis, int servoState);
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virtual asynStatus getResolution(PIasynAxis* pAxis, double& resolution );
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virtual asynStatus getStatus(PIasynAxis* pAxis, int& homing, int& moving, int& negLimit, int& posLimit, int& servoControl) = 0;
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virtual asynStatus getGlobalState( asynMotorAxis** Axes, int numAxes ) { return asynSuccess; }
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virtual asynStatus getMoving(PIasynAxis* pAxis, int& homing);
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virtual asynStatus getBusy(PIasynAxis* pAxis, int& busy);
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virtual asynStatus getTravelLimits(PIasynAxis* pAxis, double& negLimit, double& posLimit);
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virtual asynStatus hasLimitSwitches(PIasynAxis* pAxis);
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virtual asynStatus hasReferenceSensor(PIasynAxis* pAxis);
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virtual asynStatus getReferencedState(PIasynAxis* axis);
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virtual asynStatus SetPivotX(double value);
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virtual asynStatus SetPivotY(double value);
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virtual asynStatus SetPivotZ(double value);
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virtual double GetPivotX() { return 0.0; }
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virtual double GetPivotY() { return 0.0; }
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virtual double GetPivotZ() { return 0.0; }
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virtual bool AcceptsNewTarget() { return true; }
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virtual bool CanCommunicateWhileHoming() { return true; }
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const char* getAxesID(size_t axisIdx) { return m_axesIDs[axisIdx]; }
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size_t getNrFoundAxes() { return m_nrFoundAxes; }
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virtual bool IsGCS2() { return true; }
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int getGCSError();
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int GetLastError() { return m_LastError; }
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PIInterface* m_pInterface;
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static const size_t MAX_NR_AXES = 64;
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bool m_bAnyAxisMoving;
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protected:
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asynStatus setGCSParameter(PIasynAxis* pAxis, unsigned int paramID, double value);
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asynStatus getGCSParameter(PIasynAxis* pAxis, unsigned int paramID, double& value);
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virtual asynStatus findConnectedAxes();
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static bool IsGCS2(PIInterface* pInterface);
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char szIdentification[200];
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int m_nrAxesOnController;
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char* m_axesIDs[MAX_NR_AXES];
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size_t m_nrFoundAxes;
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char m_allAxesIDs[255];
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int m_LastError;
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bool m_KnowsVELcommand;
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};
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#endif /* PIGCSCONTROLLER_H_ */
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